[ { "id": "authors:80amq-5hf78", "collection": "authors", "collection_id": "80amq-5hf78", "cite_using_url": "https://authors.library.caltech.edu/records/80amq-5hf78", "type": "article", "title": "Amphibious passive adaptation in untethered soft robots", "author": [ { "family_name": "Yin", "given_name": "Shukun", "orcid": "0000-0002-8218-9219", "clpid": "Yin-Shukun" }, { "family_name": "Yao", "given_name": "Dickson R.", "clpid": "Yao-Dickson-Richard" }, { "family_name": "Kim", "given_name": "Inho", "clpid": "Kim-Inho" }, { "family_name": "Zhou", "given_name": "Wenjie", "clpid": "Zhou-Wenjie" }, { "family_name": "Heng", "given_name": "Wenzheng", "clpid": "Heng-Wenzheng" }, { "family_name": "Li", "given_name": "Wenjian", "clpid": "Li-Wenjian" }, { "family_name": "Tang", "given_name": "Songsong", "orcid": "0000-0003-4699-6563", "clpid": "Tang-Songsong" }, { "family_name": "Ma", "given_name": "Xiaotian", "orcid": "0009-0000-8357-9916", "clpid": "Ma-Xiaotian-Bryce" }, { "family_name": "Xu", "given_name": "Yadong", "orcid": "0000-0001-8885-6433", "clpid": "Xu-Yadong" }, { "family_name": "Kim", "given_name": "Gwangmook", "orcid": "0000-0002-7469-408X", "clpid": "Kim-Gwangmook" }, { "family_name": "Han", "given_name": "Hong", "orcid": "0000-0002-2852-8662", "clpid": "Han-Hong" }, { "family_name": "Fan", "given_name": "Kexin", "orcid": "0000-0003-3818-5891", "clpid": "Fan-Kexin" }, { "family_name": "Daraio", "given_name": "Chiara", "orcid": "0000-0001-5296-4440", "clpid": "Daraio-C" }, { "family_name": "Gao", "given_name": "Wei", "orcid": "0000-0002-8503-4562", "clpid": "Gao-Wei" } ], "abstract": "Mobile robots are increasingly deployed in diverse settings, ranging from logistic and household applications to ecological monitoring and operation in extreme environments. In these contexts, robots must traverse diverse terrains, yet most existing designs rely on fixed morphologies that limit efficiency across domains. Biomimetic solutions emulate natural forms but cannot fully exploit engineered mechanisms, while active adaptive architectures typically require complex electronics and incur substantial energy costs. Inspired by amphibians and reptiles, we developed AdaptBot, an untethered adaptive soft robot that integrates rigid machinery with responsive soft materials to achieve passive reconfiguration for amphibious locomotion. AdaptBot employs a single bioinspired photothermal artificial muscle (PAM) to power multiple gaits by light, a fast and large swelling hydrogel (FLASH) to drive passive fin deployment in water, and a ratcheting transmission to convert reciprocating PAM motion into forward locomotion. These elements enable multimodal performance\u2014including rolling, load-carrying, climbing, and paddling\u2014under wireless control across terrestrial, aquatic, and transitional environments. Remarkably, following fin deployment, AdaptBot's swimming speed increased by 780%, demonstrating that passive adaptation is an effective strategy to enhance locomotor efficiency in robots operating in unstructured and dynamic environments.", "doi": "10.1073/pnas.2532988123", "pmcid": "PMC13123914", "issn": "0027-8424", "publisher": "National Academy of Sciences", "publication": "Proceedings of the National Academy of Sciences", "publication_date": "2026-04-28", "series_number": "17", "volume": "123", "issue": "17", "pages": "e2532988123" }, { "id": "authors:htqch-sg711", "collection": "authors", "collection_id": "htqch-sg711", "cite_using_url": "https://authors.library.caltech.edu/records/htqch-sg711", "type": "article", "title": "Multi-touch microcapsules/silicone-polyacrylate hybrid hydrogels with precise self-healing ability and their self-powered sensing applications in emergency rescue", "author": [ { "family_name": "Zhao", "given_name": "Bingqian" }, { "family_name": "He", "given_name": "Xiaolong" }, { "family_name": "Li", "given_name": "Wenjian", "orcid": "0000-0002-9689-0823", "clpid": "Li-Wenjian" }, { "family_name": "Zhang", "given_name": "Hang" }, { "family_name": "Liu", "given_name": "Han" }, { "family_name": "Qiu", "given_name": "Hua", "orcid": "0000-0001-5272-5175" }, { "family_name": "Gu", "given_name": "Peng" }, { "family_name": "Chen", "given_name": "Kunlin", "orcid": "0000-0003-1202-1303" } ], "abstract": "

Hydrogels offer significant potential for use in wearable soft electronic devices. However, their application faces considerable challenges in outdoor emergencies or extreme environments where a power supply is unavailable. In this study, multi-touch microcapsules with phase change properties were prepared by coating nanogold through silica as Pickering particles. Subsequently, the microspheres were integrated into a silicone oil-modified polyacrylate hydrogel with self-healing capabilities, resulting in the fabrication of a hydrogel strain sensor that exhibits precise self-healing and self-powered functionality. The mechanical properties of the hydrogel sensor can be modified by adjusting the polymer composition. Due to the multi-contact structure of nano-gold on the surface of microcapsules and the dynamic boronic ester bond interaction, the hydrogel sensor possesses precision self-healing capability. In addition, the hydrogel sensors demonstrate high sensitivity, which can accurately detect some subtle human motions, such as joint flexion. Importantly, the synthesized composite hydrogel exhibits self-powered performance, which could be helpful for rescue operations in outdoor or extreme environments. This study provides helpful results that can be used in the development of wearable soft electronics based on conductive hydrogels.

", "doi": "10.1016/j.cej.2024.157149", "issn": "1385-8947", "publisher": "Elsevier", "publication": "Chemical Engineering Journal", "publication_date": "2024-11-15", "volume": "500", "pages": "157149" } ]